Enum CommunicationObject 

pub enum CommunicationObject {
    Nmt,
    Sync,
    Emergency,
    Time,
    Tpdo1,
    Rpdo1,
    Tpdo2,
    Rpdo2,
    Tpdo3,
    Rpdo3,
    Tpdo4,
    Rpdo4,
    Tsdo,
    Rsdo,
    Heartbeat,
}

CANopen 通信对象 (function code 分类)。

Variants

Nmt

NMT 命令帧 (0x000，主站发出)。

Sync

同步帧 (0x080)。

Emergency

紧急帧 (0x080 + node_id)。

Time

时间帧 (0x100)。

Tpdo1

Rpdo1

Tpdo2

Rpdo2

Tpdo3

Rpdo3

Tpdo4

Rpdo4

Tsdo

服务器 → 客户端 (0x580 + nid)。

Rsdo

客户端 → 服务器 (0x600 + nid)。

Heartbeat

心跳 (0x700 + nid)。

Implementations

impl CommunicationObject

pub fn function_code(self) -> u16

该 object 的 function code 部分（COB-ID 高 4 bits）。

pub fn cob_id(self, node_id: u8) -> Result<u16>

拼出标准 COB-ID。

Nmt / Sync / Time 不带 node id，调用方应传 0；其他必须 1..=127。

Trait Implementations

impl Clone for CommunicationObject

fn clone(&self) -> CommunicationObject

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for CommunicationObject

impl Debug for CommunicationObject

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Eq for CommunicationObject

impl PartialEq for CommunicationObject

fn eq(&self, other: &CommunicationObject) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for CommunicationObject